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<div class="title">GLFW_callbacks.cpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">This is part of OpenLoong Dynamics Control, an open project for the control of biped robot,</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">Copyright (C) 2024 Humanoid Robot (Shanghai) Co., Ltd, under Apache 2.0.</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">Feel free to use in any purpose, and cite OpenLoong-Dynamics-Control in any style, to contribute to the advancement of the community.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> &lt;https://atomgit.com/openloong/openloong-dyn-control.git&gt;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> &lt;web@openloong.org.cn&gt;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &quot;GLFW_callbacks.h&quot;</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;UIctr::UIctr(mjModel *modelIn, mjData *dataIn) {</div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;    mj_model=modelIn;</div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;    mj_data=dataIn;</div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;    cam=mjvCamera();</div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;    opt=mjvOption();</div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;    scn=mjvScene();</div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;    con=mjrContext();</div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;}</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160; </div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160; </div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="keyword">static</span> <span class="keywordtype">void</span> scroll(GLFWwindow* window, <span class="keywordtype">double</span> xoffset, <span class="keywordtype">double</span> yoffset)</div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;{</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;    ((<a class="code" href="classUIctr.html">UIctr</a>*)(glfwGetWindowUserPointer(window)))-&gt;Scroll(xoffset, yoffset);</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;}</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="keyword">static</span> <span class="keywordtype">void</span> mouse_move(GLFWwindow* window, <span class="keywordtype">double</span> xpos, <span class="keywordtype">double</span> ypos)</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;{</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    ((<a class="code" href="classUIctr.html">UIctr</a>*)(glfwGetWindowUserPointer(window)))-&gt;Mouse_move(xpos, ypos);</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;}</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="keyword">static</span> <span class="keywordtype">void</span> mouse_button(GLFWwindow* window, <span class="keywordtype">int</span> button, <span class="keywordtype">int</span> act, <span class="keywordtype">int</span> mods)</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;{</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    ((<a class="code" href="classUIctr.html">UIctr</a>*)(glfwGetWindowUserPointer(window)))-&gt;Mouse_button(button, act, mods);</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;}</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160; </div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="keyword">static</span> <span class="keywordtype">void</span> keyboard(GLFWwindow* window, <span class="keywordtype">int</span> key, <span class="keywordtype">int</span> scancode, <span class="keywordtype">int</span> act, <span class="keywordtype">int</span> mods)</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;{</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    ((<a class="code" href="classUIctr.html">UIctr</a>*)(glfwGetWindowUserPointer(window)))-&gt;Keyboard(key, scancode, act, mods);</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;}</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="keyword">static</span> <span class="keywordtype">void</span> window_close_callback(GLFWwindow* window)</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;{</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    ((<a class="code" href="classUIctr.html">UIctr</a>*)(glfwGetWindowUserPointer(window)))-&gt;Close();</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;}</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="keywordtype">void</span> UIctr::iniGLFW() {</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    <span class="keywordflow">if</span>( !glfwInit() )</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;        mju_error(<span class="stringliteral">&quot;Could not initialize GLFW&quot;</span>);</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="comment">//    char **tmp;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="comment">//    glutInit(0,tmp);</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    <span class="comment">//glutDisplayFunc(UIctr::displaySimTime);</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;}</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="comment">// create window, make OpenGL context current, request v-sync, adjust view, bond callbacks, etc.</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="keywordtype">void</span> UIctr::createWindow(<span class="keyword">const</span> <span class="keywordtype">char</span>* windowTitle, <span class="keywordtype">bool</span> saveVideo) {</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    window=glfwCreateWindow(width, height, windowTitle, NULL, NULL);</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    glfwMakeContextCurrent(window);</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    glfwSwapInterval(1);</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    mjv_defaultCamera(&amp;cam);</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="comment">// Set up mujoco visualization objects</span></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="comment">// adjust view point</span></div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <span class="keywordtype">double</span> arr_view[] = {150, -16, 3, 0, 0.000000, 1.00000}; <span class="comment">//view the right side</span></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    cam.azimuth = arr_view[0];</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    cam.elevation = arr_view[1];</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    cam.distance = arr_view[2];</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    cam.lookat[0] = arr_view[3];</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    cam.lookat[1] = arr_view[4];</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    cam.lookat[2] = arr_view[5];</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="keywordflow">if</span> (isTrack) {</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        cam.lookat[2] += 0.8;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        cam.type = mjCAMERA_TRACKING;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        cam.trackbodyid = 1;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    }</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        cam.type = mjCAMERA_FREE;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <span class="comment">//mjv_defaultCamera(&amp;cam);</span></div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    mjv_defaultOption(&amp;opt);</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    mjv_defaultScene(&amp;scn);</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    mjr_defaultContext(&amp;con);</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    mjv_makeScene(mj_model, &amp;scn, 2000);                <span class="comment">// space for 2000 objects</span></div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    mjr_makeContext(mj_model, &amp;con, mjFONTSCALE_150);   <span class="comment">// model-specific context</span></div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    mjv_moveCamera(mj_model, mjMOUSE_ROTATE_H, 0.0, 0.0, &amp;scn, &amp;cam);</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <span class="comment">// install GLFW mouse and keyboard callbacks</span></div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    glfwSetWindowUserPointer(window, <span class="keyword">this</span>);</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    glfwSetWindowCloseCallback(window, window_close_callback);</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    glfwSetKeyCallback(window, keyboard);</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    glfwSetCursorPosCallback(window, mouse_move);</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    glfwSetMouseButtonCallback(window, mouse_button);</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    glfwSetScrollCallback(window, scroll);</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    save_video=saveVideo;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    <span class="keywordflow">if</span> (save_video)</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    {</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        image_rgb_ = (<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>*)malloc(3*width*height*<span class="keyword">sizeof</span>(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>));</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        image_depth_ = (<span class="keywordtype">float</span>*)malloc(<span class="keyword">sizeof</span>(<span class="keywordtype">float</span>)*width*height);</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        <span class="comment">// create output rgb file</span></div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        file = fopen(<span class="stringliteral">&quot;../record/rgbRec.out&quot;</span>, <span class="stringliteral">&quot;wb&quot;</span>);</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        <span class="keywordflow">if</span>( !file )</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;            mju_error(<span class="stringliteral">&quot;Could not open rgbfile for writing&quot;</span>);</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    }</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;}</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;<span class="keywordtype">void</span> UIctr::updateScene() {</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    <span class="keywordflow">if</span> (isContinuous== <span class="keyword">false</span>)</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        runSim= <span class="keyword">false</span>;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    <span class="comment">// get framebuffer viewport</span></div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    mjrRect viewport = {0, 0, 0, 0};</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    glfwMakeContextCurrent(window);</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    glfwGetFramebufferSize(window, &amp;viewport.width, &amp;viewport.height);</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;<span class="comment">//        UIctr::opt.frame = mjFRAME_WORLD; //mjFRAME_BODY</span></div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;<span class="comment">//        UIctr::opt.flags[mjVIS_COM]  = 1 ; //mjVIS_JOINT;</span></div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;<span class="comment">//        UIctr::opt.flags[mjVIS_JOINT]  = 1 ;</span></div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    <span class="comment">// update scene and render</span></div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    mjv_updateScene(mj_model, mj_data, &amp;opt, NULL, &amp;cam, mjCAT_ALL, &amp;scn);</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    glfwGetFramebufferSize(window, &amp;viewport.width, &amp;viewport.height);</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    mjr_render(viewport, &amp;scn, &amp;con);</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    std::string timeStr = <span class="stringliteral">&quot;Simulation Time: &quot;</span> + std::to_string(mj_data-&gt;time);</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    <span class="keywordtype">char</span> buffer[100];</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    std::sprintf(buffer, <span class="stringliteral">&quot;Time: %.3f&quot;</span>, mj_data-&gt;time);</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    mjr_overlay(mjFONT_NORMAL, mjGRID_TOPRIGHT, viewport, buffer, NULL, &amp;con);</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    <span class="comment">// swap OpenGL buffers (blocking call due to v-sync)</span></div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    glfwSwapBuffers(window);</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    <span class="comment">// process pending GUI events, call GLFW callbacks</span></div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    glfwPollEvents();</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    <span class="keywordflow">if</span> (save_video)</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    {</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        mjr_readPixels(image_rgb_, image_depth_, viewport, &amp;con);</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        fwrite(image_rgb_, <span class="keyword">sizeof</span>(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>), 3*width*height, file);</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    }</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;}</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;<span class="comment">// keyboard callback</span></div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;<span class="keywordtype">void</span> UIctr::Keyboard(<span class="keywordtype">int</span> key, <span class="keywordtype">int</span> scancode, <span class="keywordtype">int</span> act, <span class="keywordtype">int</span> mods)</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;{</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    <span class="comment">// backspace: reset simulation</span></div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    <span class="keywordflow">if</span>( act==GLFW_PRESS &amp;&amp; key==GLFW_KEY_BACKSPACE )</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    {</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        mj_resetData(mj_model, mj_data);</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        mj_forward(mj_model, mj_data);</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    }</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    <span class="keywordflow">if</span>( act==GLFW_PRESS &amp;&amp; key==GLFW_KEY_1 )</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    {</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;        keyb = 1;</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        motion_state =1;</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    }</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160; </div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    <span class="keywordflow">if</span> (act==GLFW_RELEASE &amp;&amp; key==GLFW_KEY_1)</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    {</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        runSim=!runSim;</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        isContinuous= <span class="keyword">true</span>;</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    }</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160; </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    <span class="keywordflow">if</span> (act==GLFW_RELEASE &amp;&amp; key==GLFW_KEY_2)</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    {</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        runSim= <span class="keyword">true</span>;</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;        isContinuous= <span class="keyword">false</span>;</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    }</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;}</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;<span class="comment">// mouse button callback</span></div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;<span class="keywordtype">void</span> UIctr::Mouse_button(<span class="keywordtype">int</span> button, <span class="keywordtype">int</span> act, <span class="keywordtype">int</span> mods)</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;{</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    <span class="comment">// update button state</span></div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    button_left =   (glfwGetMouseButton(window, GLFW_MOUSE_BUTTON_LEFT)==GLFW_PRESS);</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    button_middle = (glfwGetMouseButton(window, GLFW_MOUSE_BUTTON_MIDDLE)==GLFW_PRESS);</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    button_right =  (glfwGetMouseButton(window, GLFW_MOUSE_BUTTON_RIGHT)==GLFW_PRESS);</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    <span class="comment">// update mouse position</span></div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    glfwGetCursorPos(window, &amp;lastx, &amp;lasty);</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;}</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;<span class="comment">// mouse move callback</span></div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;<span class="keywordtype">void</span> UIctr::Mouse_move(<span class="keywordtype">double</span> xpos, <span class="keywordtype">double</span> ypos)</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;{</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    <span class="comment">// no buttons down: nothing to do</span></div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    <span class="keywordflow">if</span>( !button_left &amp;&amp; !button_middle &amp;&amp; !button_right )</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    <span class="comment">// compute mouse displacement, save</span></div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    <span class="keywordtype">double</span> dx = xpos - lastx;</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    <span class="keywordtype">double</span> dy = ypos - lasty;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    lastx = xpos;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    lasty = ypos;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; </div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    <span class="comment">// get current window size</span></div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    <span class="keywordtype">int</span> width, height;</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    glfwGetWindowSize(window, &amp;width, &amp;height);</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160; </div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    <span class="comment">// get shift key state</span></div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;    <span class="keywordtype">bool</span> mod_shift = (glfwGetKey(window, GLFW_KEY_LEFT_SHIFT)==GLFW_PRESS ||</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;                      glfwGetKey(window, GLFW_KEY_RIGHT_SHIFT)==GLFW_PRESS);</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160; </div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    <span class="comment">// determine action based on mouse button</span></div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    mjtMouse action;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    <span class="keywordflow">if</span>( button_right )</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;        action = mod_shift ? mjMOUSE_MOVE_H : mjMOUSE_MOVE_V;</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span>( button_left )</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;        action = mod_shift ? mjMOUSE_ROTATE_H : mjMOUSE_ROTATE_V;</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;        action = mjMOUSE_ZOOM;</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    <span class="comment">// move camera</span></div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    mjv_moveCamera(mj_model, action, dx/height, dy/height, &amp;scn, &amp;cam);</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;}</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160; </div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;<span class="comment">// scroll callback</span></div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;<span class="keywordtype">void</span> UIctr::Scroll(<span class="keywordtype">double</span> xoffset, <span class="keywordtype">double</span> yoffset)</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;{</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    <span class="comment">// emulate vertical mouse motion = 5% of window height</span></div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;    mjv_moveCamera(mj_model, mjMOUSE_ZOOM, 0, 0.05*yoffset, &amp;scn, &amp;cam);</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;}</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160; </div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;<span class="keywordtype">void</span> UIctr::Close() {</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    <span class="comment">// Free mujoco objects</span></div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    mj_deleteData(mj_data);</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    mj_deleteModel(mj_model);</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    mjr_freeContext(&amp;con);</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;    mjv_freeScene(&amp;scn);</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160; </div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160; </div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;    glfwTerminate();</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;}</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160; </div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;<span class="keywordtype">void</span> UIctr::enableTracking() {</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;    isTrack=<span class="keyword">true</span>;</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;}</div>
<div class="ttc" id="aclassUIctr_html"><div class="ttname"><a href="classUIctr.html">UIctr</a></div><div class="ttdef"><b>Definition:</b> <a href="GLFW__callbacks_8h_source.html#l00014">GLFW_callbacks.h:14</a></div></div>
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